U.S. patent application number 17/704076 was filed with the patent office on 2022-09-29 for surveying system, point cloud data acquiring method, and point cloud data acquiring program.
The applicant listed for this patent is TOPCON CORPORATION. Invention is credited to Nobuyuki Nishita.
Application Number | 20220307833 17/704076 |
Document ID | / |
Family ID | 1000006320066 |
Filed Date | 2022-09-29 |
United States Patent
Application |
20220307833 |
Kind Code |
A1 |
Nishita; Nobuyuki |
September 29, 2022 |
SURVEYING SYSTEM, POINT CLOUD DATA ACQUIRING METHOD, AND POINT
CLOUD DATA ACQUIRING PROGRAM
Abstract
A surveying system comprises a target and a measuring
instrument. The target has retro-reflection characteristics, the
measuring instrument comprises a point measuring unit for
irradiating a distance measuring light, for receiving a reflected
light and for measuring three-dimensional coordinates of the target
based on a light receiving result, a scanner unit for rotatably
irradiating a laser beam and for acquiring the point cloud data and
an arithmetic control module, wherein the point measuring unit
measures the target held in the vicinity of an object, the
arithmetic control module calculates a region of a
three-dimensional space including the object based on a target
measurement result of the point measuring unit, the scanner unit
scans a predetermined range including the object and acquires the
point cloud data, and the arithmetic control module selects the
point cloud data only included in the region of the point cloud
data.
Inventors: |
Nishita; Nobuyuki;
(Tokyo-to, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
TOPCON CORPORATION |
Tokyo-to |
|
JP |
|
|
Family ID: |
1000006320066 |
Appl. No.: |
17/704076 |
Filed: |
March 25, 2022 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01C 11/02 20130101;
G01C 15/002 20130101 |
International
Class: |
G01C 15/00 20060101
G01C015/00; G01C 11/02 20060101 G01C011/02 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 29, 2021 |
JP |
2021-055468 |
Claims
1. A surveying system comprising: a target and a measuring
instrument, wherein said target has retro-reflection
characteristics, said measuring instrument comprises a point
measuring unit configured to irradiate a distance measuring light
to said target, to receive a reflected light and to measure
three-dimensional coordinates of said target based on a light
receiving result, a scanner unit configured to rotatably irradiate
a laser beam and to acquire a point cloud data, and an arithmetic
control module, wherein said point measuring unit is configured to
measure said target held in the vicinity of an object at at least
one position, said arithmetic control module is configured to
calculate a region of a three-dimensional space including said
object based on a target measurement result of said point measuring
unit, said scanner unit is adapted to scan a predetermined range
including said object and to acquire the point cloud data, and said
arithmetic control module is configured to select the point cloud
data only included in said region of said point cloud data.
2. The surveying system according to claim 1, wherein said point
measuring unit has a tracking function and tracks a movement of
said target around said object, measures said target while tracking
and acquires a tracking locus, and said arithmetic control module
is configured to calculate said region of said three-dimensional
space based on said tracking locus.
3. The surveying system according to claim 1, wherein said point
measuring unit has a tracking function and tracks a movement of
said target around said object, measures said target while tracking
and acquires a tracking locus, and said arithmetic control module
is configured to calculate a horizontal projection figure of said
tracking locus and calculate a region of said three-dimensional
space with said horizontal projection figure as a bottom plane and
extending in the vertical direction.
4. The surveying system according to claim 1, wherein said point
measuring unit has a tracking function and tracks a movement of
said target around said object, measures said target while tracking
and acquires a tracking locus, and said arithmetic control module
is configured to determine said tracking locus as a boundary, set a
height vertically above said tracking locus, and calculate a region
of said three-dimensional space.
5. The surveying system according to claim 3, wherein said
arithmetic control module is configured to calculate a circle and a
polygon inscribed or circumscribed to said tracking locus and to
calculate said region of said three-dimensional space based on said
inscribed or circumscribed circle and polygon.
6. The surveying system according to claim 4, wherein said
arithmetic control module is configured to calculate a circle and a
polygon inscribed or circumscribed to said tracking locus and to
calculate said region of said three-dimensional space based on said
inscribed or circumscribed circle and polygon.
7. The surveying system according to claim 1, wherein said
arithmetic control module has a region pattern for setting a
region, and said point measuring unit is adapted to measure
three-dimensional coordinates of said target as a region point at
at least one point in the vicinity of said object, and said
arithmetic control module is configured to calculate said region of
said three-dimensional space based on a measurement result of said
region point and said region pattern.
8. The surveying system according to claim 7, said region pattern
is a circle, and said arithmetic control module is configured to
determine one region point as a center of said circle and to
calculate said region of said three-dimensional space based on a
set radius and said region point.
9. The surveying system according to claim 7, wherein said region
pattern is a circle, and said arithmetic control module is
configured to calculate a distance between two region points from
horizontal coordinates of said two region points and to calculate
said region of said three-dimensional space with said calculated
distance determined as a diameter of said circle.
10. The surveying system according to claim 7, wherein said region
pattern is a circle, and said arithmetic control module is
configured to determine one point of two region points as a center
of said circle, to calculate a distance between two region points
from horizontal coordinates, to determine said calculated distance
as a radius of said circle and to calculate said region of said
three-dimensional space.
11. The surveying system according to claim 7, wherein said region
pattern is a square, and said arithmetic control module is
configured to calculate a distance between two points from
horizontal coordinates of said two points, to determine said
calculated distance as a diagonal line of said square and to
calculate said region of said three-dimensional space.
12. The surveying system according to claim 7, wherein said point
measuring unit is adapted to measure three-dimensional coordinates
of said target as region points at at least three points in the
vicinity of said object, said region pattern is a rectangle, and
said arithmetic control module is configured to determine
horizontal coordinates of said three points as coordinates of three
vertexes of said rectangle, to calculate said rectangle and to
calculate said region of said three-dimensional space based on said
calculated rectangle.
13. The surveying system according to claim 7, wherein said point
measuring unit has a tracking function, tracks the movement of said
target along said object, measures said target while tracking and
acquires a tracking locus, and said region pattern is a sphere, and
wherein said arithmetic control module is configured to set region
points on said tracking locus, to determine said region points as
centers of said spheres, and to calculate said region of said
three-dimensional space by a gathering of spheres formed along said
tracking locus.
14. The surveying system according to claim 1, wherein said
arithmetic control module has a plurality of region patterns, said
point measuring unit is adapted to measure three-dimensional
coordinates of said target as a region point at at least two points
in the vicinity of said object, and wherein said arithmetic control
module is configured to select one of a plurality of region
patterns and to calculate said region of said three-dimensional
space based on a measurement result of said region point and said
selected region pattern.
15. The surveying system according to claim 14, wherein a plurality
of region patterns include at least a circular pattern, a square
pattern, a rectangular pattern, and a spherical pattern.
16. The surveying system according to claim 1, wherein said scanner
unit is adapted to perform a scan in such a manner that a plurality
of objects are included and to acquire the point cloud data, and
said arithmetic control module is configured to set said region of
said three-dimensional space for each of said objects and to select
only the point cloud data included within said region.
17. The surveying system according to claim 1, further comprising a
remote controller, wherein at least one of said remote controller
or said point measuring unit has a display unit, and said point
cloud data included in said region is displayed on said display
unit.
18. The surveying system according to claim 17, wherein said point
cloud data displayed on said display unit concerns one of the
plurality of objects.
19. The surveying system according to claim 18, wherein said
display unit is a touch panel and the measurement of said objects
is enabled based on said displayed point cloud data.
20. The surveying system according to claim 1, further comprising a
UAV, wherein said target is an omnidirectional prism provided on
said UAV.
21. A point cloud data acquiring method in a surveying system which
comprises a target and a measuring instrument, wherein said target
has a retro-reflection characteristics and said measuring
instrument has a point measuring unit capable of measuring
three-dimensional coordinates of said target while tracking said
target and a scanner unit which is integrated with said point
measuring unit and is capable of acquiring a point cloud data by
rotatably irradiating a laser beam, wherein said point cloud data
acquiring method comprises steps of moving said target around an
object, acquiring three-dimensional coordinates of said target at
least one position while moving, calculating a closed stereoscopic
region of a three-dimensional space including said object based on
said single three-dimensional coordinates, acquiring the point
cloud data including said closed stereoscopic region by said
scanner unit, and selecting only point cloud data included in said
closed stereoscopic region in said point cloud data.
22. A point cloud data acquiring program which makes the surveying
system according to claim 1 to execute the following steps: moving
said target around an object, acquiring three-dimensional
coordinates of said target at least one position while moving,
calculating a closed stereoscopic region of a three-dimensional
space including said object based on said single three-dimensional
coordinates, acquiring the point cloud data including said closed
stereoscopic region by said scanner unit, and selecting only point
cloud data included in said closed stereoscopic region in said
point cloud data.
Description
BACKGROUND OF THE INVENTION
[0001] The present invention relates to a surveying system which
can specify a point cloud data acquisition range of a laser scanner
by a three-dimensional space, a point cloud data acquiring method,
and a point cloud data acquiring program.
[0002] Generally, in case of acquiring the point cloud data by a
laser scanner, a pulsed distance measuring light is vertically
rotated around a horizontal axis and further is horizontally
rotated around a vertical axis, thereby an omnidirectional scan is
performed, and the point cloud data is acquired. As a result, an
amount of data acquired is enormous. However, the point cloud data
which a measurer actually needs relates to an object present within
a limited range in a total scan range.
[0003] In the measurement using a scanner in a place where there is
something other than an object of which the point cloud data is to
be acquired, the data processing work to exclude unnecessary parts
from the acquired point cloud data is required after the
measurement, thereby the efficiency is reduced.
[0004] Further, since the amount of data is enormous, the data
processing such as extracting the point cloud data concerning the
object becomes the post-processing after acquiring the point cloud
data, and it is difficult to proceed with the work while checking
the situation on a job site.
[0005] It is to be noted that, in acquiring the point cloud data, a
horizontal direction range and a vertical direction range are set,
and the point cloud data is acquired in the set ranges, but the
point cloud data is acquired with respect to all physical objects
present in a depth direction, and hence it is inevitable that an
amount of data becomes enormous.
[0006] Further, in case of displaying an acquired point cloud data
in a display device and confirming an object, a measuring point
whose distance is different from a distance of the object is also
displayed, and hence it is difficult to identify the object.
SUMMARY OF INVENTION
[0007] It is an object of the present invention to provide a
surveying system which enables specifying a point cloud data
acquisition range of a laser scanner by a three-dimensional space
and reduces an amount of the point cloud data to be acquired, a
point cloud data acquiring method, and a point cloud data acquiring
program.
[0008] To attain the object as described above, a surveying system
according to the present invention is a surveying system comprising
a target and a measuring instrument, wherein the target has
retro-reflection characteristics, the measuring instrument
comprises a point measuring unit configured to irradiate a distance
measuring light to the target, to receive a reflected light and to
measure three-dimensional coordinates of the target based on a
light receiving result, a scanner unit configured to rotatably
irradiate a laser beam and to acquire a point cloud data, and an
arithmetic control module, wherein the point measuring unit is
configured to measure the target held in the vicinity of an object
at at least one position, the arithmetic control module is
configured to calculate a region of a three-dimensional space
including the object based on a target measurement result of the
point measuring unit, the scanner unit is configured to scan a
predetermined range including the object and to acquire the point
cloud data, and the arithmetic control module is configured to
select a point cloud data only included in the region of the point
cloud data.
[0009] Further, in the surveying system according to a preferred
embodiment, wherein the point measuring unit has a tracking
function and tracks a movement of the target around the object,
measures the target while tracking and acquires a tracking locus,
and the arithmetic control module is configured to calculate the
region of the three-dimensional space based on the tracking
locus.
[0010] Further, in the surveying system according to a preferred
embodiment, wherein the point measuring unit has a tracking
function and tracks a movement of the target around the object,
measures the target while tracking and acquires a tracking locus,
and the arithmetic control module is configured to calculate a
horizontal projection figure of the tracking locus and calculate a
region of the three-dimensional space with the horizontal
projection figure as a bottom plane and extending in the vertical
direction.
[0011] Further, in the surveying system according to a preferred
embodiment, wherein the point measuring unit has a tracking
function and tracks a movement of the target around the object,
measures the target while tracking and acquires a tracking locus,
and the arithmetic control module is configured to determine the
tracking locus as a boundary, set a height vertically above the
tracking locus, and calculate a region of the three-dimensional
space.
[0012] Further, in the surveying system according to a preferred
embodiment, wherein the arithmetic control module is configured to
calculate a circle inscribed or circumscribed to the tracking locus
and to calculate the region of the three-dimensional space based on
the inscribed or circumscribed circle.
[0013] Further, in the surveying system according to a preferred
embodiment, wherein the arithmetic control module is configured to
calculate a polygon inscribed or circumscribed to the tracking
locus and to calculate the region of the three-dimensional space
based on the inscribed or circumscribed polygon.
[0014] Further, in the surveying system according to a preferred
embodiment, wherein the arithmetic control module has a region
pattern for setting a region, and the point measuring unit is
adapted to measure three-dimensional coordinates of the target as a
region point at at least one point in the vicinity of the object,
and the arithmetic control module is configured to calculate the
region of the three-dimensional space based on a measurement result
of the region point and the region pattern.
[0015] Further, in the surveying system according to a preferred
embodiment, the region pattern is a circle, and the arithmetic
control module is configured to determine one region point as a
center of the circle and to calculate the region of the
three-dimensional space based on a set radius and the region
point.
[0016] Further, in the surveying system according to a preferred
embodiment, wherein the region pattern is a circle, and the
arithmetic control module is configured to calculate a distance
between two region points from horizontal coordinates of the two
region points and to calculate the region of the three-dimensional
space with the calculated distance determined as a diameter of the
circle.
[0017] Further, in the surveying system according to a preferred
embodiment, wherein the region pattern is a circle, and the
arithmetic control module is configured to determine one point of
two region points as a center of the circle, to calculate a
distance between two region points from horizontal coordinates, to
determine the calculated distance as a radius of the circle and to
calculate the region of the three-dimensional space.
[0018] Further, in the surveying system according to a preferred
embodiment, wherein the region pattern is a square, and the
arithmetic control module is configured to calculate a distance
between two points from horizontal coordinates of the two points,
to determine the calculated distance as a diagonal line of the
square and to calculate the region of the three-dimensional
space.
[0019] Further, in the surveying system according to a preferred
embodiment, wherein the point measuring unit is adapted to measure
three-dimensional coordinates of the target as region points at at
least three points in the vicinity of the object, the region
pattern is a rectangle, and the arithmetic control module is
configured to determine horizontal coordinates of the three points
as coordinates of three vertexes of the rectangle, to calculate the
rectangle and to calculate the region of the three-dimensional
space based on the calculated rectangle.
[0020] Further, in the surveying system according to a preferred
embodiment, wherein the point measuring unit has a tracking
function, tracks the movement of the target along the object,
measures the target while tracking and acquires a tracking locus,
and the region pattern is a sphere, and wherein the arithmetic
control module is configured to set region points on the tracking
locus, determine the region points as centers of the spheres, and
to calculate the region of the three-dimensional space by a
gathering of spheres formed along the tracking locus.
[0021] Further, in the surveying system according to the preferred
embodiment, wherein the arithmetic control module has a plurality
of region patterns, the point measuring unit is adapted to measure
three-dimensional coordinates of the target as a region point at at
least two points in the vicinity of the object, and wherein the
arithmetic control module is configured to select one of a
plurality of region patterns and to calculate the region of the
three-dimensional space based on a measurement result of the region
point and the selected region pattern.
[0022] Further, in the surveying system according to a preferred
embodiment, wherein a plurality of region patterns include at least
a circular pattern, a square pattern, a rectangular pattern, and a
spherical pattern.
[0023] Further, in the surveying system according to a preferred
embodiment, wherein the scanner unit is adapted to perform a scan
in such a manner that a plurality of objects are included and to
acquire the point cloud data, and the arithmetic control module is
configured to set the region of the three-dimensional space for
each of said objects and to select only the point cloud data
included within the region.
[0024] Further, in the surveying system according to a preferred
embodiment, a remote controller is further included, at least one
of the remote controller or the point measuring unit has a display
unit, and the point cloud data included in the region is displayed
on the display unit.
[0025] Further, in the surveying system according to a preferred
embodiment, wherein the point cloud data displayed on the display
unit concerns one of the plurality of objects.
[0026] Further, in the surveying system according to a preferred
embodiment, wherein the display unit is a touch panel and the
measurement of the objects is enabled based on the displayed point
cloud data.
[0027] Further, in the surveying system according to a preferred
embodiment, a UAV is further included, and the target is an
omnidirectional prism provided on the UAV.
[0028] Further, a point cloud data acquiring method according to
the present invention includes, in a surveying system which
comprises a target and a measuring instrument, wherein the target
has a retro-reflection characteristics and the measuring instrument
has a point measuring unit capable of measuring three-dimensional
coordinates of the target while tracking the target and a scanner
unit which is integrated with the point measuring unit and is
capable of acquiring a point cloud data by rotatably irradiating a
laser beam, the point cloud data acquiring method comprises steps
of moving the target around an object, acquiring three-dimensional
coordinates of the target at least one position while moving,
calculating a closed stereoscopic region of a three-dimensional
space including the object based on the single three-dimensional
coordinates, acquiring the point cloud data including the closed
stereoscopic region by the scanner unit, and selecting only point
cloud data included in the closed stereoscopic region in the point
cloud data.
[0029] Furthermore, a point cloud data acquiring program according
to the present invention makes the surveying system described above
to execute each of the steps.
[0030] According to the present invention, the surveying system
comprises a target and a measuring instrument, wherein the target
has the retro-reflection characteristics, the measuring instrument
comprises a point measuring unit configured to irradiate a distance
measuring light to the target, to receive a reflected light and to
measure three-dimensional coordinates of the target based on a
light receiving result, a scanner unit configured to rotatably
irradiate a laser beam and to acquire the point cloud data, and an
arithmetic control module, wherein the point measuring unit is
configured to measure the target held in the vicinity of an object
at at least one position, the arithmetic control module is
configured to calculate a region of a three-dimensional space
including the object based on a target measurement result of the
point measuring unit, the scanner unit is configured to scan a
predetermined range including the object and to acquire the point
cloud data, and the arithmetic control module is configured to
select the point cloud data only included in the region of the
point cloud data. As a result, the point cloud data with respect to
the object can be acquired, an amount of the point cloud data to be
acquired can be reduced, the data processing work to exclude an
unnecessary part from the acquired point cloud data is omitted
after the measurement, the workability can be improved, and the
identification of the object can be facilitated.
BRIEF DESCRIPTION OF DRAWINGS
[0031] FIG. 1 is an explanatory drawing of an entire surveying
system according to an embodiment of the present invention.
[0032] FIG. 2 is a schematic view of the entire surveying
system.
[0033] FIG. 3 is a schematic view of the surveying system.
[0034] FIG. 4 is a schematic block diagram of a point measuring
unit of the surveying a system.
[0035] FIG. 5 is a schematic block diagram of a scanner unit of the
surveying system.
[0036] FIG. 6 is a schematic block diagram of a remote controller
of the surveying system.
[0037] FIG. 7 is a flowchart of operations of this embodiment.
[0038] FIG. 8 is a drawing showing an example of a display
screen.
[0039] FIG. 9 is an explanatory drawing showing an object and a
tracking locus.
[0040] FIG. 10A is an explanatory drawing of setting a
circumscribed quadrangle as a data acquisition region relative to
the tracking locus, FIG. 10B is an explanatory drawing of setting
an inscribed circle as the data acquisition region relative to the
tracking locus, and
[0041] FIG. 10C is an explanatory drawing of setting a
circumscribed circle as the data acquisition region relative to the
tracking locus.
[0042] FIG. 11A is an explanatory drawing of specifying two points
and determining a diameter of a circle as the data acquisition
region, and FIG. 11B is an explanatory drawing of specifying two
points and determining a center and a radius of the circle as the
data acquisition region.
[0043] FIG. 12A and FIG. 12B are explanatory drawings of specifying
two points and determining a diameter of a circle as the data
acquisition region when the object is a support column, and FIG.
12C is an explanatory drawing of further specifying a height and
determining the data acquisition region of a three-dimensional
space.
[0044] FIGS. 13A-13B show a case where the data acquisition region
is specified using a pattern, where FIG. 13A is an explanatory
drawing of a case where a square pattern is used and two points are
specified, and FIG. 13B is an explanatory drawing of a case where a
rectangular pattern is used and three points are specified.
[0045] FIG. 14 is an explanatory drawing of a case where a tracking
locus along an object is acquired.
[0046] FIG. 15 is an explanatory drawing of a case where the
tracking locus is used and the data acquisition region is formed
with a spherical pattern.
[0047] FIG. 16 is an explanatory drawing of case where a plurality
of objects are present and data acquisition regions are set for the
individual objects.
[0048] FIG. 17 is an explanatory drawing of a case where the point
cloud data of one object is displayed in a display unit.
[0049] FIG. 18 is a flowchart of operations in the other
embodiment.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0050] A description will be given below on embodiments of the
present invention by referring to the attached drawings.
[0051] A surveying system according to the embodiment of the
present invention includes a measuring instrument, a remote
controller and a target. As the measuring instrument, a measuring
instrument is used, which has a function of tracking the target and
of enabling a measurement of a three-dimensional position of the
target and a function of performing a two-dimensional scan and of
enabling an acquisition of a point cloud data.
[0052] As such a measuring instrument, there are a surveying
instrument disclosed in Japanese Patent Application Publication No.
2016-223841, a laser scanner disclosed in Japanese Patent
Application Publication No. 2018-28464, and the like.
[0053] In the present embodiment, in a measuring instrument which
is capable of tracking and measuring a target and is capable of
acquiring a point cloud data, a plurality of three-dimensional
positions of an actual space are specified with the use of the
target before acquiring or after acquiring a point cloud data, and
a region of a closed three-dimensional space (a closed stereoscopic
region) including an object is created based on the plurality of
specified three-dimensional positions.
[0054] First, a description will be given on an outline of the
present embodiment by referring to FIG. 1.
[0055] In FIG. 1, reference numeral 1 denotes a measuring
instrument, reference numeral 2 denotes a target as a
retro-reflector such as a prism, and reference numeral 3 denotes a
remote controller.
[0056] The measuring instrument 1 is installed at a predetermined
position, e.g., a known position with respect to an object. The
measuring instrument 1 has a point measuring unit 4 and a scanner
unit 5, and the point measuring unit 4 and the scanner unit 5 are
integrated.
[0057] The point measuring unit 4 has a function to track the
target 2 and to measure three-dimensional coordinates of the target
2 of the moment in real time. As the point measuring unit 4, a
total station or the like is included.
[0058] The scanner unit 5 has a function to acquire the point cloud
data by scanning with a pulsed distance measuring light. As the
scanner unit 5, one which rotatably irradiate the pulsed distance
measuring light on one horizontal axis, one which rotatably
irradiate the same on two axes which are horizontal and vertical
axes, one which performs a scan with the pulsed distance measuring
light back and forth in horizontal/vertical directions, and
others.
[0059] The target 2 may be an omnidirectional prism mounted on a
pole, or an omnidirectional prism mounted on a handle for easy
carrying.
[0060] FIG. 1 shows reinforcing bars of a column in an earlier
stage of the assembling as the object 6.
[0061] A measurement worker holds the target 2 and moves around the
object 6. The point measuring unit 4 tracks the target 2 and
measures three-dimensional coordinates of the target 2 on
predetermined points. It is to be noted that the three-dimensional
coordinates on the predetermined points are coordinates of points
at which a moving direction changes, namely, coordinates of
corners. It is to be noted that the predetermined points may be
selected from a locus which circles the object 6 and
three-dimensional coordinates of the predetermined points may be
determined. Further, the target 2 is raised on the rear side of the
object 6 in order to prevent a tracking light from being blocked by
the object 6.
[0062] In the present embodiment, the number of predetermined
points is four in correspondence with a shape of the object 6. A
horizontal projection figure of a figure as formed by four points
(the figure projected onto the horizontal plane) is set as a cross
section, and a three-dimensional space extending vertically is set
as a point cloud data acquisition region (which will be referred to
as a data acquisition region or a region hereinafter). It is to be
noted that, if the object is finite in the vertical direction and a
height of the object is known, the height may also be specified,
and the data acquisition region of the closed three-dimensional
space (closed stereoscopic region) may be specified. Since the
three-dimensional coordinates of the four points are known, a
boundary of the data acquisition region is also known.
[0063] As to the acquisition of the point cloud data by the scanner
unit 5, a scan may be performed in a wide range including the
object as a preceding step of setting the region or, after setting
a region relative to the object, a scan may be performed in the set
region alone, and the point cloud data may be acquired.
[0064] After acquiring the point cloud data, by judging whether or
not measured values (three-dimensional coordinates) of the point
cloud data are included in the data acquisition region of which the
boundary is set as a threshold, it is possible to extract the point
cloud data of the data acquisition region, to identify the object
from the extracted point cloud data, and to easily extract the
point cloud data with respect to the object.
[0065] It is to be noted, in case of acquiring a point cloud data
in a wide range, if a plurality of objects are present in the point
cloud data acquisition region, by acquiring the point cloud data at
one time, then subsequent operation becomes only a region setting,
which results in the good work efficiency. Further, if the number
of object is one, by scanning only in an area of the object, it is
possible to reduce a data amount, which is effective.
[0066] A further description will be given on the measuring
instrument 1 with reference to FIG. 2, FIG. 3, FIG. 4, and FIG.
5.
[0067] In the measuring instrument 1 shown in FIG. 2, a total
station is used as the point measuring unit 4, and a uniaxial
rotation irradiation type laser scanner, which rotatably irradiates
a laser beam around a horizontal rotation shaft as a center, is
used as the scanner unit 5.
[0068] The surveying system 1 includes the point measuring unit 4
(which will be referred to as a TS unit 4 hereinafter), the scanner
unit 5 (which will be referred to as an LS unit 5 hereinafter) as a
two-dimensional laser scanner, and an arithmetic control module 7.
The arithmetic control module 7 integrally controls an operation of
the TS unit 4 and an operation of the LS unit 5, and performs a
data processing such as a matching of the data acquired by the TS
unit 4 and the LS unit 5 and correction. It is to be noted that any
one of a TS arithmetic control module 21 (which will be described
later) provided in the TS unit 4 and an LS arithmetic control
module 38 (which will be described later) provided in the LS unit 5
may be allowed to also serve as the arithmetic control module
7.
[0069] A tripod 8 is installed at a predetermined position, the TS
unit 4 is provided on the tripod 8, and the LS unit 5 is provided
on an upper surface of the TS unit 4.
[0070] The TS unit 4 has a first machine reference point (not
shown), the TS unit 4 and the LS unit 5 are constituted in such a
manner that a second machine reference point of the LS unit 5 is
present on a vertical line 9 running through the first machine
reference point, and a distance between the first machine reference
point and the second machine reference point is known.
[0071] First, a description will be given on an outline
configuration of the TS unit 4.
[0072] A lower end portion of the TS unit 4 is a base unit 11 with
a leveling function, and a horizontal rotation driver 12 is
accommodated in the base unit 11. The horizontal rotation driver 12
has a horizontal rotation shaft 13 which extends vertically, and an
axis of the horizontal rotation axis 13 coincides with the vertical
line 9.
[0073] A frame unit 14 which is a horizontal rotation unit is
mounted on an upper end of the horizontal rotation shaft 13. The LS
unit 5 is provided on an upper surface of the frame unit 14.
[0074] A telescope module 16 which is a vertical rotation unit is
rotatably supported on the frame unit 14 via a vertical rotation
shaft 15.
[0075] A telescope 17 with a distance measuring optical axis is
provided in the telescope module 16, and a TS distance measuring
module 22 (which will be described later) and the like are provided
in the telescope module 16. The distance measuring optical axis
crosses the vertical line 9 and is orthogonal to an axis of the
vertical rotation shaft 15. An intersection of the distance
measuring optical axis and the vertical line 9 may be a first
machine reference point.
[0076] A vertical rotation driver 18 is accommodated in the frame
unit 14, and the vertical rotation driver 18 is connected to the
vertical rotation shaft 15. The telescope module 16 is rotated in
the vertical direction via the vertical rotation shaft 15 by the
vertical rotation driver 18. A vertical angle detector 19 is
provided on the vertical rotation shaft 15, a vertical rotation
angle of the vertical rotation shaft 15 is detected by the vertical
angle detector 19 in real time, and further a vertical angle of the
telescope module 16 (i.e., the distance measuring optical axis) is
detected.
[0077] The frame unit 14 is rotated in a horizontal direction over
a total circumference by the horizontal rotation driver 12 via the
horizontal rotation shaft 13. Further, a horizontal angle detector
20 is provided on the horizontal rotation shaft 13, a horizontal
rotation angle of the frame unit 14 (i.e., a horizontal angle of
the distance measuring optical axis) is detected by the horizontal
angle detector 20, and a horizontal angle of the frame unit 14 is
detected in real time.
[0078] The horizontal rotation driver 12 and the vertical rotation
driver 18 constitute a rotation driver, and the telescope module 16
is rotated in a necessary state in two directions of vertical and
horizontal directions. Further, the vertical angle detector 19 and
the horizontal angle detector 20 constitute a direction angle
detector and the direction angle detector is adapted to detect a
vertical angle and a horizontal angle (i.e., a direction angle of
the distance measuring optical axis) in real time.
[0079] A total station arithmetic control module (which will be
referred to as a TS arithmetic control module) 21 is provided in
the frame unit 14.
[0080] A Further description will be given on the TS unit 4 with
reference to FIG. 4.
[0081] As shown in FIG. 3, the TS unit 4 is mainly constituted of a
total station distance measuring module (which will be referred to
as a TS distance measuring module) 22, a total station angle
measuring module (which will be referred to as a TS angle measuring
module) 23, a tracking module 24, a TS communication module 25, an
operation module 26, a display unit 27, an image pickup module 28,
a total station storage module (which will be referred to as a TS
storage module) 29, the TS arithmetic control module 21, the
horizontal rotation driver 12, and the vertical rotation driver 18.
The TS angle measuring module 23 is constituted of the horizontal
angle detector 20 and the vertical angle detector 19. It is to be
noted that encoders may be used as the horizontal angle detector 20
and the vertical angle detector 19.
[0082] The TS distance measuring module 22, the horizontal rotation
driver 12, the vertical rotation driver 18, the TS angle measuring
module 23, the tracking module 24, the TS communication module 25,
the display unit 27, the image pickup module 28, and the like are
controlled by the TS arithmetic control module 21.
[0083] The TS distance measuring module 22 projects a distance
measuring light to the target 2, receives a reflected light from
the target 2, performs the distance measurement, and inputs a
distance measurement result to the TS arithmetic control module
21.
[0084] The TS angle measuring module 23 obtains a horizontal angle
and a vertical angle of the target 2 (a measuring point) at
measuring distance based on a detection result from the vertical
angle detector 19 and a detection result from the horizontal angle
detector 20, and inputs detected angles to the TS arithmetic
control module 21.
[0085] The TS arithmetic control module 21 calculates
three-dimensional coordinates of distance measuring points based on
a distance measurement result of the TS distance measuring module
22 and an angle measurement result of the TS angle measuring module
23, and stores arithmetic results in the TS storage module 29.
[0086] The tracking module 24 projects a tracking light coaxially
with or in parallel with the distance measuring light, receives a
reflected light from the target 2, and inputs a tracking state to
the TS arithmetic control module 21.
[0087] The TS arithmetic control module 21 drives and controls the
horizontal rotation driver 12 and the vertical rotation driver 18
in such a manner that the reflected light from the target 2 is
always received by the tracking module 24 and the telescope 17
sights the target 2 in a case where the target 2 moves.
[0088] The image pickup module 28 acquires an image (a background
image) of a measuring direction including an object and inputs an
image data to the TS arithmetic control module 21. The TS
arithmetic control module 21 associates the image data with the
distance measurement and the angle measurement data and stores in
the TS storage module 29. Alternatively, the TS arithmetic control
module 21 performs an image processing such as superimposing the
image data and the point cloud data acquired by the LS unit 5.
[0089] The TS communication module 25 receives an operation
instruction from the remote controller 3, or transmits or receives
controls signals and the data, e.g., the measurement data of the TS
unit 4 (a distance measurement result of the TS distance measuring
module 22, an angle measurement result of the TS angle measuring
module 23), an image data acquired by the image pickup module 28,
and the point cloud data acquired by the LS unit 5.
[0090] From the operation module 26, measurement conditions or
operation instruction, e.g., start the measurement for the TS unit
4 or the LS unit 5 are input, and on the display unit 27, the
measurement conditions, measurement situations, measurement
results, and the like are displayed. It is to be noted that a touch
panel may be adopted as the display unit 27, the display unit can
also serve as the operation module and the operation module 26 may
be omitted.
[0091] In the TS storage module 29, various types of programs are
stored. These programs include: an image pickup program for
controlling the image acquisition by the image pickup module 28, a
distance measurement program for controlling the distance
measurement by the TS distance measuring module 22, an angle
measurement program for calculating a direction angle based on the
acquisition of the horizontal angle detection and the vertical
angle detection by the TS angle measuring module 23 and a result of
the angle detection, a tracking program for performing the tracking
by the tracking module 24, an image processing program for
processing images acquired by the image pickup module 28, a region
setting program for setting a region of a three-dimensional space
including an object based on a plurality of specified
three-dimensional positions (three-dimensional coordinates), a
point cloud data extraction program for determining whether the
point cloud data acquired by the LS unit 5 is within a data
acquisition region and for extracting the point cloud data within
the data acquisition region or for eliminating the point cloud data
outside the data acquisition region, a data association program for
performing a synchronization or an association between the data, a
region pattern for setting a region of a three-dimensional space,
or the like.
[0092] Further, a data storage section is formed in the TS storage
module 29, and in the data storage section, data, for instance, the
image data acquired by the image pickup module 28, the distance
measurement data acquired by the TS distance measuring module 22
and the angle measurement data acquired by the TS angle measuring
module 23 are stored. The image data, the point cloud data, the
distance measurement data and the angle measurement data are
associated with each other.
[0093] The TS arithmetic control module 21 executes the programs
stored in the TS storage module 29, performs necessary calculations
based on the stored data, performs the necessary control, e.g., the
distance measurement, the angle measurement, or the tracking based
on the stored programs.
[0094] As shown in FIG. 3, the LS unit 5 has a recess portion 31
formed at the center, and a scanning mirror 32 is accommodated in
the recess portion 31. The scanning mirror 32 is rotatably
supported by a scanning rotation shaft 33 with a horizontal axis,
and is configured to rotate by a scanning motor 34 via the scanning
rotation shaft 33.
[0095] Further, a laser scanner vertical angle detector (which will
be referred to as an LS vertical angle detector) 35 is provided on
the scanning rotation shaft 33. The LS vertical angle detector 35
is configured to detect a rotation angle (a vertical angle, i.e., a
rotation angle of the scanning mirror 32) of the scanning rotation
shaft 33 in real time. It is to be noted that an encoder may be
used as the LS vertical angle detector 35.
[0096] The LS unit 5 includes an LS distance measuring module 36 in
a part facing the scanning mirror 32. A scanning light (a pulsed
laser beam) 37 is projected from the LS distance measuring module
36 toward the scanning mirror 32.
[0097] An optical axis of the scanning light 37 coincides with an
axis of the scanning rotation shaft 33 and is deflected at a right
angle by the scanning mirror 32. By rotating the scanning mirror 32
around the scanning rotation shaft 33, the scanning light 37 as
deflected by the scanning mirror 32 rotatably irradiates within a
plane orthogonal to the axis of the scanning rotation shaft 33. An
intersection of the axis of the scanning rotation shaft 33 (i.e.,
an optical axis of the scanning light 37) and the scanning mirror
32 is a second machine reference point of the LS unit 3.
[0098] The scanning light 37 as rotatably irradiated scans an
object, a reflected scanning light 37' (not shown) as reflected on
the object enters the LS distance measuring module 36 via the
scanning mirror 32. By receiving the reflected scanning light 37'
in the LS distance measuring module 36, a reciprocating time (a
flying time) of the pulsed light is obtained and the distance
measurement (Time of Flight) is performed with respect to each
pulsed light based on the light speed and the flying time.
[0099] Further, a vertical angle of the scanning mirror 32 is
detected by the LS vertical angle detector 35 in real time, the
distance measurement is performed with respect to each pulsed
light, and a vertical angle is detected with respect to each pulsed
light.
[0100] Since the LS unit 3 rotatably irradiates the scanning light
37 in the vertical direction and detects a vertical angle,
two-dimensional point cloud data with two-dimensional coordinates
consisted of a distance and a vertical angle is acquired. The
acquired two-dimensional point cloud data is stored in a laser
scanner storage module via a laser scanner arithmetic control
module (which will be described later).
[0101] A Further description will be given on the LS unit 5 by
referring to FIG. 5.
[0102] The LS unit 5 is mainly constituted of the LS vertical angle
detector 35, the LS distance measuring module 36, an LS angle
measuring module 40, a laser scanner arithmetic control module
(which will be referred to as an LS arithmetic control module 38
hereinafter), the scanning motor 34, and a laser scanner storage
module (which will be referred to as an LS storage module
hereinafter) 39.
[0103] In the LS storage module 39, various types of programs are
stored. These programs include: an LS distance measurement program
for rotatably irradiating the scanning light 37 emitted from the LS
distance measuring module 36 and for performing the distance
measurement with respect to each pulsed light, an angle detection
program for detecting an angle of the scanning mirror 32 in real
time and a data association program for synchronizing or
associating various kinds of data as acquired by the TS unit 4 with
the data acquired by the LS unit 5. A data storage section is
formed in the LS storage module 39, and distance measurement
results and angle measurement results (the point cloud data) for
respective pulsed lights are stored in the data storage section. It
is to be noted that a part of the TS storage module 29 may be
allocated to the LS storage module 39.
[0104] The LS arithmetic control module 38 develops and executes
the programs stored in the LS storage module 39, performs the light
emission control of the LS angle measuring module 40, the control
of the scanning motor 34 (the rotational control of the scanning
mirror 32), and the like, and controls the acquisition of the point
cloud data. Further, the LS arithmetic control module 38 associates
distance measurement results and an angle measurement results with
respect to each of pulsed lights in the data storage section and
stores them in the LS storage module 39.
[0105] A description will be given on an outline configuration of
the remote controller 3 by referring to FIG. 6.
[0106] The remote controller 3 has a terminal arithmetic processing
module 41 with an arithmetic function, a terminal storage module
42, a terminal communication module 43, an operation module 44, and
a display unit 45.
[0107] In the terminal storage module 42, various types of programs
are stored. These programs include a communication program for
communicating with the measuring instrument 1, a display program
for displaying operation screen, measurement results, e.g., the
point cloud data, images acquired by a camera, and the like, and an
operation program for inputting instructions via a touch panel or
the like. Further, a data storage section is formed in the terminal
storage module 42, and the measurement data (the distance
measurement/angle measurement data), the point cloud data and the
image data, as transmitted from the measuring instrument 1, can be
stored in the data storage region. The terminal arithmetic
processing module 41 executes the programs stored in the terminal
storage module 42 and controls the terminal communication module 43
or the display unit 45 and the like based on the programs.
[0108] The terminal communication module 43 performs the
communication with the measuring instrument 1. Further, the
operation module 44 inputs various kinds of instructions via
buttons or the like of a controller integrally provided with the
display unit 45, and remotely operates the measuring instrument
1.
[0109] On the display unit 45, measurement results acquired by the
TS unit 4, the point cloud data acquired by the LS unit 5, and the
like are displayed.
[0110] It is to be noted that the entire display unit 45 may be
configured as a touch panel. If the entire display unit 45 is a
touch panel, the operation module 44 may be omitted.
[0111] By referring to FIG. 1 and FIG. 7, a description will be
given on an operation of a region setting according to the present
embodiment.
[0112] (STEP 01) The measuring instrument 1 is installed at a
predetermined position.
[0113] (STEP 02) A worker holds the target 2 and allows the
measuring instrument 1 (the TS unit 4) to start tracking the target
2.
[0114] (STEP 03) The region setting is started when the target 2 is
positioned near the object 6.
[0115] (STEP 04) The target 2 is held and moved around the object 6
so that the tracking by the TS unit 4 is not interrupted. As shown
in FIG. 1, when moving behind the object 6, the target 2 is
supported above the object 6 so that an optical path of the
tracking light is not blocked by the object 6. The TS unit 4
performs positional measurements while tracking the target 2.
[0116] (STEP 05) A boundary of a region is specified when the
target 2 makes a circuit of the object 6. A horizontal projection
figure of a locus of the target 2 surrounding the object 6 is a
horizontal section, and the region as set is a three-dimensional
space (a closed stereoscopic region) which has the horizontal
section as a bottom plane and is defined by a height including the
object 6. It is to be noted that, if a height of the object 6 is
known or finite, the height of the three-dimensional space may be
specified by the target 2 or numerically specified from the
operation module 26, and the data acquisition region may be a
closed three-dimensional space (a closed stereoscopic region).
Further, by setting the height vertically above the boundary formed
by a tracking locus of the target 2, it is also possible to
determine an equipment or the like suspended from a ceiling as the
object and to set a region whose lower limit is the tracking
locus.
[0117] The TS arithmetic control module 21 or the terminal
arithmetic processing module 41 acquires a locus (the tracking
locus) of the target 2 and calculates the horizontal projection
figure and the data acquisition region. Further, the boundary of
the data acquisition region is set as a threshold value.
[0118] (STEP 06) The TS arithmetic control module 21 sets as a scan
range a predetermined range (a horizontal angle) including the data
acquisition region based on an instruction from the operation
module 26, or the TS arithmetic control module 21 sets the scan
range based on the region as acquired and starts scanning by the LS
unit 5. It is to be noted that the scan range may be set for an
angle of elevation but it may be set for a horizontal angle only.
It is to be noted that the scan range may be set by the LS
arithmetic control module 38.
[0119] (STEP 07) By the cooperation of the rotation of the scanning
mirror 32 and the horizontal rotation by the horizontal rotation
driver 12, the set predetermined range is scanned and the point
cloud data is acquired.
[0120] (STEP 08) The TS arithmetic control module 21 compares
three-dimensional coordinate values of each measuring point of the
acquired point cloud data with the data acquisition region (the
threshold value), and selects measuring points with
three-dimensional coordinate values included in the data
acquisition region. This selection eliminates points which deviate
in a horizontal angle direction and in a depth direction from the
data acquisition region. It is to be noted that the LS arithmetic
control module 38 may perform the selection of the measuring
points.
[0121] By performing this selection step, the point cloud data as
acquired will only be those related to the object 6.
[0122] (STEP 09) The TS arithmetic control module 21 or the
terminal arithmetic processing module 41 displays the selected
point cloud data on the display unit 27 of the measuring instrument
1 or on the display unit 45 of the remote controller 3.
[0123] FIG. 8 shows a state where point cloud data 46 as acquired
is displayed on the display unit 27 or on the display unit 45 as an
image. The point cloud data 46 relates to the object 6, it is
possible to omit the work of extracting the point cloud data
relating the object 6 from the huge amount of point cloud data.
[0124] The TS arithmetic control module 21 or the terminal
arithmetic processing module 41 specifies a desired point on the
displayed image (the point cloud), obtains three-dimensional
coordinates of the specified point, and calculates informations of
a position and a height of the specified point from the
three-dimensional coordinates. Further, by specifying two points
(a, b) a distance between the two points (a width, a depth, and the
like) is calculated. Therefore, the three-dimensional information
with respect to the object 6 can be easily acquired from the
image.
[0125] In the embodiment as described above, the region is set
using the locus obtained by tracking the target 2, but four points
are specified on the locus and the region is set in FIG. 1.
[0126] Four points on the locus as obtained by moving around the
object 6, for instance, positions (points) corresponding to four
corners of the object 6 are selected, and a quadrangle formed by
connecting the four points with straight lines is determined as a
boundary of the region. In this case, likewise, a horizontal
projection figure of the quadrangle is determined as a horizontal
section of the region, and a three-dimensional space defined by a
height including the object 6 is set as the region (the data
acquisition region). It is to be noted that the shape of the
horizontal section corresponds to the shape of the object 6 without
being restricted to the quadrangle, four points or more, five
points, or six points may be selected, and a polygon such as a
pentagon or a hexagon may be adopted.
[0127] When this region setting is adapted, the shape of the region
becomes simple, and it becomes easy to determine whether each
measuring point of the point cloud data in the STEP 08 is included
in the region.
[0128] Further, in this method, since the region is formed by a
plane, the region setting itself can be facilitated.
[0129] Other embodiments of the region setting based on a tracking
locus of the target 2 will now be described with reference to FIG.
9, FIG. 10A, FIG. 10B, and FIG. 10C.
[0130] In FIG. 9, a reference numeral 48 denotes a locus obtained
by tracking the target 2. Further, in FIG. 10A, FIG. 10B, and FIG.
10C, a reference numeral 48' denotes a projected locus 48' obtained
by projecting the locus 48 onto a horizontal plane.
[0131] In a region setting shown in FIG. 10A, the TS arithmetic
control module 21 or the terminal arithmetic processing module 41
calculates a circumscribed quadrangle 51 as circumscribed to the
projected locus 48', calculates a columnar three-dimensional space
with the circumscribed quadrangle 51 as a bottom plane, and
determines the three-dimensional space as a data acquisition
region.
[0132] Further, in the region setting shown in FIG. 10B, the TS
arithmetic control module 21 or the terminal arithmetic processing
module 41 calculates an inscribed circle 52 as inscribed to the
projected locus 48', calculates a columnar three-dimensional space
with the inscribed circle 52 as a bottom plane, and determines the
three-dimensional space as a data acquisition region.
[0133] Further, in the region setting shown in FIG. 10C, likewise,
a circumscribed circle 53 as circumscribed to the projected locus
48' is obtained, a columnar three-dimensional space with the
circumscribed circle 53 as a bottom plane is calculated, and the
three-dimensional space is determined as a data acquisition
region.
[0134] It is to be noted that, in case of setting the region based
on the projected locus 48', a shape of the region to be
circumscribed or inscribed is not limited to a rectangle or a
circle, but can be a triangle, a parallelogram, an ellipse, or the
like. It may be appropriately selected taking a shape, a size, and
others of the object into consideration.
[0135] FIG. 11, FIG. 12, and FIGS. 13A-13B show other embodiments
of the region setting.
[0136] In the other region settings, various kinds of region
patterns are stored in the TS storage module 29 or the terminal
storage module 42 in advance. First, a region shape (a region
pattern) is selected from the operation module 26 or the operation
module 44, and a plurality of region points are set by the target
2. The region points are measured by the TS unit 4, and a region is
set with the use of the measured region points and the selected
region pattern. In this region setting example, since measuring the
plurality of points by the target 2 can suffice, the region wetting
work can be facilitated.
[0137] FIG. 11 shows a case where a circular pattern 55 is selected
as the region pattern.
[0138] FIG. 11A shows a case where the circular pattern 55 is
formed by specifying a diameter. In this case, the region points to
be set are two points (56a, 56b) at both ends of the diameter of
the circular pattern 55.
[0139] FIG. 11B shows a case where the circular pattern 55 is
formed by specifying a center position and a radius by the target
2. In this case, the region points to be set are two points (56c,
56d), which are the center and a tip of the radius of the circular
pattern 55. Alternatively, the center position may be specified by
the target 2, and a radial distance on a horizontal projection
figure may be numerically set from the operation module 26 or the
remote controller 3.
[0140] FIG. 12 shows a case where a region is set by the circular
pattern 55 in FIG. 11A described above. Further, as the object 6, a
column is shown. It is to be noted that, when a worker instructs
the measuring instrument 1 to perform measuring or the like, an
instruction is performed via the remote controller 3.
[0141] The target 2 is held in the vicinity of the object 6 at an
arbitrary position A capable of being measured by the measuring
instrument 1. A position of the target 2 (three-dimensional
coordinates) is measured by the measuring instrument 1 (FIG.
12A).
[0142] Then, the target 2 is moved to the opposite side of the
object 6 and held at a position B. A position of the target 2
(three-dimensional coordinates) is measured. A horizontal distance
between the position A and the position B is obtained based on
respective horizontal plane coordinates of the three-dimensional
coordinates of the position A and on the horizontal plane
coordinates of the three-dimensional coordinates of the position B.
A circular pattern 55 having the obtained horizontal distance as a
diameter is created (FIG. 12B).
[0143] A cylindrical three-dimensional space with the circular
pattern 55 as a bottom plane is set as a region 57. As to a height,
the target 2 may be held at a desired height to be set, a position
of the target may be measured and the height is set, or in a case
where the height is known in a design drawing or the like a
numerical value may be input by the remote controller 3 (FIG.
12C).
[0144] FIG. 13A and FIG. 13B show cases where the region pattern is
a rectangle.
[0145] Further, FIG. 13A shows a case where a square pattern 57 is
selected as the region pattern. If the region pattern is the square
pattern 57, by setting two diagonal points (58a, 58b) as the region
points, the respective region points are measured and the square
pattern 57 is created based on measurement results of the two
region points. The height setting is the same as for the circular
pattern 55 as described above.
[0146] FIG. 13B shows a case where a rectangular pattern 57' is
selected as the region pattern. In a case where the region pattern
is the rectangular pattern 57', by setting three points, which are
two diagonal points (58a, 58b) and another vertex angle point
(58c), in total as region points, similarly, the respective region
points are measured and the rectangular pattern 57' is created
based on measurement results of the three region points.
[0147] Although the region patterns are circular or rectangular in
FIG. 11, FIG. 12, and FIGS. 13A-13B, it is needless to say that
various kinds of plane figures such as a polygon, e.g., a triangle
or a pentagon or an ellipse can be used as the region patterns.
[0148] Next, FIG. 14 shows an embodiment in which the region
pattern is not a plane figure but a stereoscopic figure.
[0149] Further, in FIG. 14, as an example, a portal frame 59 is the
object.
[0150] In a state of performing tracking, the target 2 is moved
along the portal frame 59. The measuring instrument 1 performs the
measurement of the target 2 while tracking the target 2, and
measures a locus 60 of the target 2.
[0151] As a stereoscopic region pattern, a sphere 61 is selected,
and a radius of the sphere 61 is set. A region point is set on the
locus 60. The sphere 61 is created with the region point as a
center. Further, by setting the region points at a predetermined
pitch, the spheres 61 are formed along the locus 60 at a
predetermined pitch. Thus, a gathering of spheres 61 forms a region
including the portal frame 59. It is to be noted that the sphere 61
may be created for each of the measuring points constituting the
locus 60.
[0152] Further, the radius may be set either beforehand or
afterward. If the radius is set beforehand, the region is created
concurrently with the measurement of the locus 60 of the target
2.
[0153] Further, in a case where the point cloud data is required
with respect to a part of the portal frame 59, for instance, a
corner portion of the portal frame 59, a region may be created by
the spheres 61 including the corner portion.
[0154] The stereoscopic region pattern may be a cube. In this case,
when setting a length of one side, a shape of the region is
specified.
[0155] FIG. 16 shows an example application of the region
setting.
[0156] In the example application, if a plurality of objects
exists, a laser scan range provided by the LS unit 5 is set so that
the plurality of objects (House, Tree 1, Tree 2) are included, and
the point cloud data of the entire scan range is acquired.
[0157] For the respective objects, regions 62a, 62b, 62c are
individually set. The point cloud data included in the regions 62a,
62b, 62c are retained, and other point cloud data is deleted from
the point cloud data of the entire scan range. By deleting the
unnecessary point cloud data, it is easy to observe the
objects.
[0158] Further, the point cloud with respect to each object can be
displayed on the display unit 27 or on the display unit 45.
[0159] FIG. 17 shows the object (Tree 1). Individually showing the
object (Tree 1) enables the detailed measurement of the individual
object.
[0160] A description will be given on a function of the region
setting of the other embodiment by referring to FIG. 18.
[0161] (STEP 11) The measuring instrument 1 is installed at a
predetermined position.
[0162] (STEP 12) The region pattern (the circular pattern 55, the
square pattern 57, the rectangular pattern 57', the sphere 61, or
the like) is selected by the operation module 26 of the TS unit 4
or the operation module 44 of the remote controller 3.
[0163] (STEP 13, 14) The target 2 is placed in the vicinity of the
object 6, the target 2 is measured by the TS unit 4, the target 2
is moved to a different position, and the target 2 is likewise
measured. Positions of the target at a plurality of positions are
measured and are set as region points.
[0164] (STEP 15) The TS arithmetic control module 21 or the
terminal arithmetic processing module 41 calculates a horizontal
projection figure of a region based on the selected region pattern
and three-dimensional coordinates of the set region points. A
height of the measurement region is specified, and the region is
set.
[0165] (STEP 16) A predetermined range (a predetermined horizontal
angle) including the region is set as a scan range from the
operation module 26 or the operation module 44, or the TS
arithmetic control module 21 sets the scan range based on the
obtained region, and a scan performed by the LS unit 5 is
started.
[0166] (STEP 17) By the cooperation of the rotation of the scanning
mirror 32 and the horizontal rotation by the horizontal rotation
driver 12, the set scan range is scanned and a point cloud data is
acquired.
[0167] (STEP 18) Three-dimensional values of the respective
measuring points of the point cloud data as acquired are compared
with the region, and measuring points with the three-dimensional
coordinate values as included in the region are selected. This
selection eliminates the points deviating in the horizontal
direction and the points deviating in the depth direction with
respect to the region.
[0168] (STEP 19) The TS arithmetic control module 21 or the
terminal arithmetic processing module 41 displays the selected
point cloud data on the display unit 27 of the measuring instrument
1 or on the display unit 45 of the remote controller 3 as an
image.
[0169] Based on the displayed image (the point cloud), the detailed
measurement with respect to the object 6 is capable of being
performed.
[0170] It is to be noted that a UAV (an unmanned aerial vehicle)
may be added to the surveying system, an omnidirectional prism may
be mounted in the UAV as the target 2, the UAV may be moved around
the object, the target 2 may be tracked and measured, and the
region may be set based on the measurement results.
* * * * *